Clark Lin
QQQQQQQQQ
Revision 6:b046d6ff3745, committed 2014-07-07
- Comitter:
- physicsgood
- Date:
- Mon Jul 07 08:16:46 2014 +0000
- Parent:
- 5:e32b091aa1fb
- Commit message:
- QQQQQQQ
Changed in this revision
diff -r e32b091aa1fb -r b046d6ff3745 camera_api.cpp
--- a/camera_api.cpp Thu Jun 05 10:32:55 2014 +0000
+++ b/camera_api.cpp Mon Jul 07 08:16:46 2014 +0000
@@ -14,242 +14,37 @@
int BX_camera::black_centerR(void){
- // find center
- // case 1 // | //
- // case 2 / | /
-
- char find_type=0x00;
-
- int b_end=0;
- int b_start=0;
-
- int b2_end=0;
- int b2_start=0;
-
-
- int center;
- int j=64;
- bool f1=false;
- bool f2=false;
- bool f3=false;
- bool f4=false;
+ int black_R_left = 0;
+ for(int i = 120; i >=8; i--){
+ if(sign_line_imageR[i] == 'O' && sign_line_imageR[i-1] == ' ' && sign_line_imageR[i-2] == ' '){
+ return i;
+ }
+ }
+ return black_R_left;
- if(sign_line_imageR[64]==' ')
- find_type=0x02;
- else
- find_type=0x01;
-
-
- for(int i=64;i<128; i++,j--){
-
-
- switch(find_type){
-
-
- case 0x01:
-
- if(f1==false&&sign_line_imageR[i]==' '){
- if(f1==false){
- b_start=i;
- f1=true;
- }
-
- }
- if(f1== true&& f2==false&&sign_line_imageR[i]=='O'){
- if(f2==false){
- b_end=i-1;
- f2=true;
- }
-
- }
-
- if(f3==false&&sign_line_imageR[j]==' '){
- if(f3==false){
- b2_end=j;
- f3=true;
- }
-
- }
- if(f3==true&&f4==false&&sign_line_imageR[j]=='O'){
- if(f4==false){
- b2_start=j-1;
- f4=true;
- }
-
- }
-
-
- break;
-
-
- case 0x02:
-
- if(sign_line_imageR[i]=='O'){
-
- if(f1==false){
- b_end=i;
- f1=true;
- }
- }
-
- if(sign_line_imageR[j]=='O'){
-
- if(f2==false){
- b_start=j;
- f2=true;
- }
-
- }
-
-
- break;
-
- }
-
-
- }
-
-
- switch(find_type){
-
- case 0x01:
-
- if((b_end-b_start)>(b2_end-b2_start) )
- center=(b_end+b_start)/2;
-
- else
- center=(b2_end+b2_start)/2;
- break;
-
- case 0x02:
- center=(b_end+b_start)/2;
-
- break;
- }
+
-
- return center;
-
- }
+}
int BX_camera::black_centerL(void){
- // find center
- // case 1 // | //
- //case 2 / | /
-
-
- char find_type=0x00;
-
- int b_end=0;
- int b_start=0;
- int b2_end=0;
- int b2_start=0;
+ int black_L_right = 128;
+ for(int i = 8; i <121 ; i++){
+ if(sign_line_imageL[i] == 'O' && sign_line_imageL[i+1] == ' ' && sign_line_imageL[i+2] == ' '){
+ return i;
+ }
+ }
+ return black_L_right;
- int center;
- int j=64;
- bool f1=false;
- bool f2=false;
- bool f3=false;
- bool f4=false;
-
- if(sign_line_imageL[64]==' ')
- find_type=0x02;
- else
- find_type=0x01;
-
-
- for(int i=64;i<128; i++,j--){
-
-
- switch(find_type){
-
-
- case 0x01:
-
- if(f1==false&&sign_line_imageL[i]==' '){
- if(f1==false){
- b_start=i;
- f1=true;
- }
-
- }
- if(f1== true&& f2==false&&sign_line_imageL[i]=='O'){
- if(f2==false){
- b_end=i-1;
- f2=true;
- }
-
- }
-
- if(f3==false&&sign_line_imageL[j]==' '){
- if(f3==false){
- b2_end=j;
- f3=true;
- }
-
- }
- if(f3==true&&f4==false&&sign_line_imageL[j]=='O'){
- if(f4==false){
- b2_start=j-1;
- f4=true;
- }
-
- }
-
- break;
-
-
- case 0x02:
-
- if(sign_line_imageL[i]=='O'){
-
- if(f1==false){
- b_end=i;
- f1=true;
- }
- }
-
- if(sign_line_imageL[j]=='O'){
-
- if(f2==false){
- b_start=j;
- f2=true;
- }
-
- }
-
-
- break;
-
- }
-
- }
-
-
- switch(find_type){
-
- case 0x01:
-
- if((b_end-b_start)>(b2_end-b2_start) )
- center=(b_end+b_start)/2;
-
- else
- center=(b2_end+b2_start)/2;
- break;
-
- case 0x02:
- center=(b_end+b_start)/2;
-
- break;
- }
-
- return center;
+
+
+
+
}
diff -r e32b091aa1fb -r b046d6ff3745 main.cpp
--- a/main.cpp Thu Jun 05 10:32:55 2014 +0000
+++ b/main.cpp Mon Jul 07 08:16:46 2014 +0000
@@ -2,14 +2,15 @@
#include "servo_api.h"
#include "camera_api.h"
-
+#include "motor_api.h"
#define Debug_cam_uart
-
+//middle 0.041
Serial pc(USBTX, USBRX);
BX_servo servo;
-
- BX_camera cam;
+BX_camera cam;
+BX_motor MotorA('A');
+BX_motor MotorB('B');
@@ -19,6 +20,7 @@
int black_va;
int white_va;
*/
+ double Kp = 0.0;
#ifdef Debug_cam_uart
pc.baud(115200);
@@ -26,9 +28,11 @@
while(1){
- cam.read();
-
- for(int i=0;i<128;i++){
+ cam.read();
+ MotorA.rotate(0.0);
+ MotorB.rotate(0.0);
+ servo.set_angle(0.051);
+ /*for(int i=0;i<128;i++){
if(i==64)
pc.printf("X");
else
@@ -42,13 +46,7 @@
else
pc.printf("%c", cam.sign_line_imageR[i]);
}
- pc.printf("\r\n");
-
-
-
- pc.printf("R center : %d \r\nL center: %d\r\n",cam.black_centerR(),cam.black_centerL());
-
-
+ pc.printf("\r\n");*/
}
diff -r e32b091aa1fb -r b046d6ff3745 servo_api.cpp
--- a/servo_api.cpp Thu Jun 05 10:32:55 2014 +0000
+++ b/servo_api.cpp Mon Jul 07 08:16:46 2014 +0000
@@ -1,50 +1,28 @@
// 0~180 angle 1~2ms
#include "mbed.h"
#include "servo_api.h"
-
-
-#define right_end 0.05 //90
-
-#define left_end 0.1 //-90
+#define right_end 1.0 //90
+#define left_end 0.0 //-90
+//middle 0.057
//memory opt
// 5 degree seperate
-
-
-
-BX_servo::BX_servo(void){
-
-
- angle = 0;
+BX_servo::BX_servo(void)
+{
+ angle = 0;
+ servo_in= new PwmOut(PTB0);
+ servo_in->period_ms(20);
+}
- servo_in= new PwmOut(PTB0);
-
- servo_in->period_ms(20);
-
- for(int i=0;i<37;i++){
-
- angle_level[i]=i*(0.05/36)+right_end;
- }
+float BX_servo::set_angle(float a)
+{
- *servo_in =angle_level[18];
-
-
- }
-
-
-
-
-
+ if( a<left_end )
+ a=left_end;
+ else if(a>right_end)
+ a=right_end;
+ angle=a;
+ *servo_in=angle;
-int BX_servo::set_angle(int a){
-
-
- angle=a;
-
- *servo_in=angle_level[18+a/5];
-
-
-
return angle;
-
- }
\ No newline at end of file
+}
\ No newline at end of file
diff -r e32b091aa1fb -r b046d6ff3745 servo_api.h
--- a/servo_api.h Thu Jun 05 10:32:55 2014 +0000
+++ b/servo_api.h Mon Jul 07 08:16:46 2014 +0000
@@ -1,5 +1,3 @@
-
-
#include "mbed.h"
@@ -9,7 +7,7 @@
public:
- int set_angle(int a);
+ float set_angle(float a);
BX_servo(void);
@@ -22,10 +20,10 @@
private:
//-90~0~90
- int angle ;
+ float angle ;
PwmOut* servo_in;
//0~36 // 18 mid
- float angle_level[37];
+
};
\ No newline at end of file